Hello,I wanted to inquire if you have any resources on Kawasaki's FLMOVE or FJMOVE outputs? We are trying to download and run the programs from an OLP software application and are wondering which would be the best method to implement this?
Fixed TCP in Kawasaki Robots
- RP_pune1605
- Thread is Unresolved
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Unless you use KROSET (Kawasaki OLP), then I very much doubt the OLP used would include the specific commands Kawasaki uses for Fixed Tool motion.
Therefore the coordinate data created from the OLP may not be referenced to a Fixed Tool, but to a specific point in space.
In order to obtain Fixed Tool interpolation on the robot itself, requires the option to be enabled (sometimes chargeable by Kawasaki distributors).
So you would need to contact your local Kawasaki distributor to check in obtaining this, they would be able to process this for you.
Then to transfer your OLP coordinate data to the Kawasaki, you would also need to determine what the OLP used as a reference to create the coordinate data and possibly convert the orientation (OAT) values of the OLP coordinate data to work with Kawasaki fixed tooling.
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We will be using FastSuite E2 to generate the output. It does have the capability to output the coordinates with respect to the fixed tool and also output the corresponding syntax for the same. We have the flexibility to choose the reference base frame as well as the tool frame that would be used.
Would you happen to know the name of the module that we would have to use for this from Kawasaki?
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In that case, if FastSuite E2 provides the correct coordinate data including the correct OAT values that Kawasaki uses, then it should be relatively straight forward to push those into the Kawasaki then when the fixed tool option is enabled.
Yes, without Fixed Tool Interpolation enabled within the robot, then:
FTOOL/FLMOVE commands are unavailable to be executed.
Just ask them for Fixed Tool Option or Fixed Tool Interpolation and they should be able to process that.
Usually they provide a file to load in to enable it, when enabled you will have the additional interpolation mode (for jogging in teach mode) and also the 'F' prefixed AS Commands available for execution including BLOCK programming fixed tool functionality too (although, I doubt you'll be using BLOCK).
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